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Review of Root Locus
Method
Week 11 and 12 -Root Locus Analysis

Topics: Design of Control System by

Root Locus Method
1. Lag Compensation
2. Lead Compensation
3. Lead-Lag compensation
Instructional Objectives
At the end of this lecture, the students shall be able to:
1. Discuss thoroughly the principles of designing a
control system using root locus method.
2. Explain the design of control system using lag
compensator.
3. Explain the design of control system using lead
compensator.
4. Explain the design of control system using lag –lead
compensator.
Fundamentals
Series and Parallel Compensation
Root Locus Approach to Control
System Design
In design using root locus, the desired behavior is
specified in terms of transient response and steady
state error requirement.
 The steady state error is usually specified in terms
of error constants for standard inputs, while the
transient response requirement is specified in
terms of peak overshoot, settling time , rise time,
etc. for a step input.
 The transient response specifications can be
translated into desired locations for a pair of
dominant closed loop poles.
In order to meet the desired specifications, the root loci are reshaped so that
they pass through the points where the dominant closed loop poles are
located. The root loci are reshaped by introducing a compensator.
Compensator is an additional device or component introduce in the system to
alter the behaviour and to meet the desired specifications.
The compensator will add a pole and or zero in the open loop transfer function
of the system.
The addition of a pole to the open loop transfer function
has the effect of pulling the root locus to the right, which
reduce the relative stability of the system and increase
the settling time.
The addition of a zero to the open loop transfer function
has the effect of pulling the root locus to the left which
make the system more stable and reduce the settling
time.
When a system is either unstable or stable but has
undesirable transient response characteristics a lead
compensator can be employed to modify the root locus.
The transfer function of lead compensator will have a
zero(compensating zero) and a pole(compensating pole).
The compensator zero can be placed on the real axis by trial and error to
satisfy transient response specifications. The introduction of zero will
amplify high frequency noise which is eliminated by the compensating
pole. The compensating pole is located on real axis such that it makes
negligible effect on the root locus in the region where the two dominant
closed loop poles are located.
 If the pole is located far away from zero then it will
not be effective in suppressing the noise.If the pole is
too close to zero then it will not allow the zero to do
its job. In order to avoid this conflict, the pole is
located 3 to 10 times the value of zero location.
 The lag compensator is employed when a stable
system has satisfactory transient response
characteristics but unsatisfactory steady state
characteristics, i. e. error requirement. The transfer
function of lag compensator will have a
zero(compensating zero) and a pole(compensating
pole).
 In order to preserve the transient response
characteristics' the compensating pole and zero
should have negligible effect on shape of root locus.
This is achieved by placing the compensating pole
and zero very close to each other. If the pole and zero
are located close to the origin then the error constant
will increase which will reduce the steady state error.
 The lag lead compensator is employed when both
both the transient and steady state characteristics are
not satisfactory. The lead compensation will improve
the transient response and lag compensation will
reduce the steady state error.
Lag Compensator
Lag Compensator
Root locus lag compensator design
procedure
Lead Compensator
Root Locus Lead Compensator Design
Procedure
Lag –Lead Compensator
Root Locus Lag-Lead Compensator
Design Procedure
Further Examples with Matlab
applications
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Week 12- Frequency Response Analysis
Topics:

1. Frequency Response Introduction

2. Bode Plot
3. Bode Plot Construction
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The frequency domain specifications indicate the performance of the system in
frequency domain, and they are:

1. Resonant peak, M
2. Resonant frequency,ω
3. Bandwidth, ωb
4. Cut-off rate
5. Gain Margin , Kg
6. Phase Margin, γ
Resonant Peak -the maximum value of the magnitude of the closed loop 57
transfer function.
Resonant Frequency - the frequency at which the resonant peak occurs. The

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resonant peak is the maximum value of the magnitude of closed loop transfer
function.
Resonant peak, resonant frequency, 58

bandwidth

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Bandwidth-is the range of frequencies for which the system gain is more than
-3db.
60
Cut-off rate-the slope of the log magnitude curve near the cut off frequency .
Gain Margin -the gain margin Kg is defined as the value by which gain of the

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system has to be increased to drive system to be verge of instability. It is
given by the reciprocal of the magnitude of open loop transfer function, at
phase cross over frequency. When expressed in decibels, it is given by, the
negative of db magnitude of G(jω) at phase cross over frequency.
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Phase and Gain Cross Over 63

Frequency

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The gain cross over frequency is the frequency at which the magnitude of
the open loop transfer function is UNITY.
The phase cross over frequency is the frequency at which the phase of the
open loop transfer function is 180o.
Illustration: Gain Margin and Phase 64
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Instructional Objectives 65

At the end of this lecture, the students shall be able to:

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1. Discuss thoroughly the principles of Frequency
Response
2. Discuss the parameters in Bode Plot construction
3. Solve problems using Bode plot method
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Draw the asymptote of the Bode plot for the system having 85
transfer function G(s)=10/s(0.1 s +1)

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CONTROL SYSTEM ENGINEERING
PE-3032
PROF. CHARLTON S. INAO
DEFENCE ENGINEERING COLLEGE,
DEBRE ZEIT , ETHIOPIA

Week 13- Frequency Response Analysis

Topics:

1. Frequency Response Introduction

2. Nyquist Plot
3.Nyquist Stability Criterion
Instructional Objectives 87

At the end of this lecture, the students shall be able to:

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1. Conduct review of Frequency Response
fundamentals
2. Discuss the parameters in Nyquist Plot construction
3. Understand Nyquist Stability Crtierion
Fundamentals 88

Frequency Response- the magnitude and phase function

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of sinusoidal transfer function of a system are real
function of frequency ω.

Definition : frequency response (or characteristic) —the ratio of the complex vector of
the steady-state output versus sinusoid input for a linear system, that is:
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Frequency Response Function
Frequency Response For the First Order 91

System

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Frequency Response of the Second Order 94

System

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Nyquist Plot
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Example 5
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